NDLI: Compensation of unmodeled aircraft dynamics in airborne inspection of linear infrastructure assets

Content Provider	IEEE Xplore Digital Library
Author	Bruggemann, T.S. Ford, J.J.
Copyright Year	2011
Description	Author affiliation: Cooperative Research Centre for Spatial Information and Australian Research Centre for Aerospace Automation at Queensland University of Technology, Brisbane, 4001 Australia (Ford, J.J.) \|\| Cooperative Research Centre for Spatial Information and Australian Research Centre for Aerospace Automation at Queensland University of Technology, 22-24 Boronia Rd, Eagle Farm, Brisbane, 4009 Australia (Bruggemann, T.S.)
Abstract	Fixed-wing aircraft equipped with downward pointing cameras and/or LiDAR can be used for inspecting approximately piecewise linear assets such as oil-gas pipelines, roads and power-lines. Automatic control of such aircraft is important from a productivity and safety point of view (long periods of precision manual flight at low-altitude is not considered reasonable from a safety perspective). This paper investigates the effect of any unwanted coupling between guidance and autopilot loops (typically caused by unmodeled delays in the aircraft's response), and the specific impact of any unwanted dynamics on the performance of aircraft undertaking inspection of piecewise linear corridor assets (such as powerlines). Simulation studies and experimental flight tests are used to demonstrate the benefits of a simple compensator in mitigating the unwanted lateral oscillatory behaviour (or coupling) that is caused by unmodeled time constants in the aircraft dynamics.
Starting Page	148
Ending Page	154
File Size	1310466
Page Count	7
File Format	PDF
ISBN	9781424492459
e-ISBN	9780858258846
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	ENGINEERS AUSTRALIA & AUSTRALIAN OPTICAL
Subject Keyword	Atmospheric modeling Inspection Aircraft navigation Trajectory Aircraft Delay Aerospace control
Content Type	Text
Resource Type	Article

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